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   &#160;<span id="projectnumber">2.9.1</span>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">ArActionDriveDistance Class Reference<div class="ingroups"><a class="el" href="group__ActionClasses.html">Predefined ArAction Classes</a></div></div>  </div>
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<p>This action drives the robot specific distances.  
 <a href="classArActionDriveDistance.html#details">More...</a></p>

<p><code>#include &lt;ArActionDriveDistance.h&gt;</code></p>

<p>Inherits <a class="el" href="classArAction.html">ArAction</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a499b36ac00bdfcf7afa5e4edf86279e3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a499b36ac00bdfcf7afa5e4edf86279e3"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ArActionDriveDistance</b> (const char *name=&quot;driveDistance&quot;, double speed=400, double deceleration=200)</td></tr>
<tr class="separator:a499b36ac00bdfcf7afa5e4edf86279e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbc94dab9bd3c0ba42f07b572bf6b173"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbc94dab9bd3c0ba42f07b572bf6b173"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#adbc94dab9bd3c0ba42f07b572bf6b173">cancelDistance</a> (void)</td></tr>
<tr class="memdesc:adbc94dab9bd3c0ba42f07b572bf6b173"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cancels the goal the robot has. <br /></td></tr>
<tr class="separator:adbc94dab9bd3c0ba42f07b572bf6b173"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fa725fc136dc59a8a4577b62ab70d8b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3fa725fc136dc59a8a4577b62ab70d8b"></a>
virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>fire</b> (<a class="el" href="classArActionDesired.html">ArActionDesired</a> currentDesired)</td></tr>
<tr class="separator:a3fa725fc136dc59a8a4577b62ab70d8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59b99e1003426ba1dcb6bf37af9bf999"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a59b99e1003426ba1dcb6bf37af9bf999"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#a59b99e1003426ba1dcb6bf37af9bf999">getDeceleration</a> (void)</td></tr>
<tr class="memdesc:a59b99e1003426ba1dcb6bf37af9bf999"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the deceleration the action will use (mm/sec/sec) <br /></td></tr>
<tr class="separator:a59b99e1003426ba1dcb6bf37af9bf999"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a623350067f56c33de9ad2b2c204dfc87"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a623350067f56c33de9ad2b2c204dfc87"></a>
virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void)</td></tr>
<tr class="separator:a623350067f56c33de9ad2b2c204dfc87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac243bcd865fb7efdb0893b18f0d70779"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac243bcd865fb7efdb0893b18f0d70779"></a>
virtual const <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void) const </td></tr>
<tr class="separator:ac243bcd865fb7efdb0893b18f0d70779"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9348d500659523fd7d06785ccd25e727"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9348d500659523fd7d06785ccd25e727"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#a9348d500659523fd7d06785ccd25e727">getSpeed</a> (void)</td></tr>
<tr class="memdesc:a9348d500659523fd7d06785ccd25e727"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the speed the action will travel at (mm/sec) <br /></td></tr>
<tr class="separator:a9348d500659523fd7d06785ccd25e727"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3b8b88401699bc2fcc668207bee7749"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae3b8b88401699bc2fcc668207bee7749"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#ae3b8b88401699bc2fcc668207bee7749">haveAchievedDistance</a> (void)</td></tr>
<tr class="memdesc:ae3b8b88401699bc2fcc668207bee7749"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sees if the goal has been achieved. <br /></td></tr>
<tr class="separator:ae3b8b88401699bc2fcc668207bee7749"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d92618d2ed563d5b340b8ad654466f1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4d92618d2ed563d5b340b8ad654466f1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#a4d92618d2ed563d5b340b8ad654466f1">setDeceleration</a> (double deceleration=200)</td></tr>
<tr class="memdesc:a4d92618d2ed563d5b340b8ad654466f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the deceleration the action will use (mm/sec/sec) <br /></td></tr>
<tr class="separator:a4d92618d2ed563d5b340b8ad654466f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5a679feebfe17f8b9601557704ac23e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5a679feebfe17f8b9601557704ac23e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#ad5a679feebfe17f8b9601557704ac23e">setDistance</a> (double distance, bool useEncoders=true)</td></tr>
<tr class="memdesc:ad5a679feebfe17f8b9601557704ac23e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a new goal and sets the action to go there. <br /></td></tr>
<tr class="separator:ad5a679feebfe17f8b9601557704ac23e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a081b6d9ac1a8f6e1b31f3140b1beec"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a081b6d9ac1a8f6e1b31f3140b1beec"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#a9a081b6d9ac1a8f6e1b31f3140b1beec">setPrinting</a> (bool printing)</td></tr>
<tr class="memdesc:a9a081b6d9ac1a8f6e1b31f3140b1beec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if we're printing or not. <br /></td></tr>
<tr class="separator:a9a081b6d9ac1a8f6e1b31f3140b1beec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4856971d3c4e655164f56e69f410c28a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4856971d3c4e655164f56e69f410c28a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#a4856971d3c4e655164f56e69f410c28a">setSpeed</a> (double speed=400)</td></tr>
<tr class="memdesc:a4856971d3c4e655164f56e69f410c28a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the speed the action will travel at (mm/sec) <br /></td></tr>
<tr class="separator:a4856971d3c4e655164f56e69f410c28a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa50f3c11633c7034fa3c3caaa9ee492"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaa50f3c11633c7034fa3c3caaa9ee492"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDriveDistance.html#aaa50f3c11633c7034fa3c3caaa9ee492">usingEncoders</a> (void)</td></tr>
<tr class="memdesc:aaa50f3c11633c7034fa3c3caaa9ee492"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether we're using the encoder position or the normal position. <br /></td></tr>
<tr class="separator:aaa50f3c11633c7034fa3c3caaa9ee492"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a758f6d649620747c5fa743d4f7a8b53e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a758f6d649620747c5fa743d4f7a8b53e">activate</a> (void)</td></tr>
<tr class="memdesc:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Activate the action. <br /></td></tr>
<tr class="separator:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4341cda2464899c839e370b514af929b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a4341cda2464899c839e370b514af929b">ArAction</a> (const char *name, const char *description=&quot;&quot;)</td></tr>
<tr class="memdesc:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeca3135308234a8224643541090bea2b"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aeca3135308234a8224643541090bea2b">deactivate</a> (void)</td></tr>
<tr class="memdesc:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate the action. <br /></td></tr>
<tr class="separator:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#adf64e5031c86d059500b93f402aa70d9">getArg</a> (int number) const </td></tr>
<tr class="memdesc:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument.  <a href="#adf64e5031c86d059500b93f402aa70d9">More...</a><br /></td></tr>
<tr class="separator:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6620d41b1e490476796696e8a70e7544"></a>
virtual <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a6620d41b1e490476796696e8a70e7544">getArg</a> (int number)</td></tr>
<tr class="memdesc:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument. <br /></td></tr>
<tr class="separator:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a19edfe254b794aa2dddb163d095905"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5a19edfe254b794aa2dddb163d095905">getDescription</a> (void) const </td></tr>
<tr class="memdesc:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the long description of the action. <br /></td></tr>
<tr class="separator:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a77fd754d342d7662090f462e27971e08"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a77fd754d342d7662090f462e27971e08">getName</a> (void) const </td></tr>
<tr class="memdesc:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the action. <br /></td></tr>
<tr class="separator:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a512f3a727095b1240f30558d32fe0f5b"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a512f3a727095b1240f30558d32fe0f5b">getNumArgs</a> (void) const </td></tr>
<tr class="memdesc:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the number of arguments this action takes. <br /></td></tr>
<tr class="separator:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae62a517795a31625bf3a2bb2ea8abac0"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ae62a517795a31625bf3a2bb2ea8abac0">getRobot</a> () const </td></tr>
<tr class="memdesc:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the robot we are controlling, which was set by <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72db278f558206fdec03cbc15ac72104"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a72db278f558206fdec03cbc15ac72104">isActive</a> (void) const </td></tr>
<tr class="memdesc:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the action is active or not. <br /></td></tr>
<tr class="separator:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5e1aaaf9de9b50f7732043a3772f53d7"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5e1aaaf9de9b50f7732043a3772f53d7">log</a> (bool verbose=true) const </td></tr>
<tr class="memdesc:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Log information about this action using <a class="el" href="classArLog.html" title="Logging utility class. ">ArLog</a>. <br /></td></tr>
<tr class="separator:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the robot this action is driving.  <a href="#a51b27da0403d43cd916cbf49ba7ddc23">More...</a><br /></td></tr>
<tr class="separator:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05bc460d965589515a007f136a03d15a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a05bc460d965589515a007f136a03d15a">~ArAction</a> ()</td></tr>
<tr class="memdesc:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desructor. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected Types</h2></td></tr>
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<b>STATE_ACHIEVED_DISTANCE</b>, 
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a1acf12dc5c2b5f250bc484a5ca9ef565"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1acf12dc5c2b5f250bc484a5ca9ef565"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myDeceleration</b></td></tr>
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<tr class="memitem:a992622b8228f095d800fd5c6fe03e99b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a992622b8228f095d800fd5c6fe03e99b"></a>
<a class="el" href="classArActionDesired.html">ArActionDesired</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDesired</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myDistance</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myDistTravelled</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myLastPose</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myLastVel</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myPrinting</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySpeed</b></td></tr>
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State&#160;</td><td class="memItemRight" valign="bottom"><b>myState</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myUseEncoders</b></td></tr>
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<tr class="inherit_header pro_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70d443457e6f0b80b434530c7d987b3f"></a>
std::map&lt; int, <a class="el" href="classArArg.html">ArArg</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myArgumentMap</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myDescription</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myIsActive</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myName</b></td></tr>
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<tr class="memitem:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20f29d8774f45e3508211c39e2afb9ce"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myNumArgs</b></td></tr>
<tr class="separator:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a265851e04729e51a2a72d1ab4f1c5ed8"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a265851e04729e51a2a72d1ab4f1c5ed8">myRobot</a></td></tr>
<tr class="memdesc:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot we are controlling, set by the action resolver using <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aceff6f8ad785ab52a79c6d847ed0ea61"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aceff6f8ad785ab52a79c6d847ed0ea61">getDefaultActivationState</a> (void)</td></tr>
<tr class="memdesc:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the default activation state for all ArActions. <br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a3543892f92fbbfa9bb3f9e0b0d199f51">setDefaultActivationState</a> (bool defaultActivationState)</td></tr>
<tr class="memdesc:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default activation state for all ArActions. <br /></td></tr>
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<tr class="inherit_header pro_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6e1c757a5232752a9b05b18e8ef5091"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ad6e1c757a5232752a9b05b18e8ef5091">setNextArgument</a> (<a class="el" href="classArArg.html">ArArg</a> const &amp;arg)</td></tr>
<tr class="memdesc:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the argument type for the next argument (must only be used in a constructor!) <br /></td></tr>
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<tr class="inherit_header pro_static_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5335a29c1c08e3fa97228635b38986fe"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><b>ourDefaultActivationState</b> = true</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This action drives the robot specific distances. </p>
<p>This action naively drives a fixed distance. The action stops the robot when it has travelled the appropriate distance. It travels at 'speed' mm/sec.</p>
<p>You can give it a distance with <a class="el" href="classArActionDriveDistance.html#ad5a679feebfe17f8b9601557704ac23e" title="Sets a new goal and sets the action to go there. ">setDistance()</a>, cancel its movement with <a class="el" href="classArActionDriveDistance.html#adbc94dab9bd3c0ba42f07b572bf6b173" title="Cancels the goal the robot has. ">cancelDistance()</a>, and see if it got there with <a class="el" href="classArActionDriveDistance.html#ae3b8b88401699bc2fcc668207bee7749" title="Sees if the goal has been achieved. ">haveAchievedDistance()</a>.</p>
<p>You can tell it to go backwards by calling setDistance with a negative value.</p>
<p>This doesn't avoid obstacles or anything, you could add have an limiting <a class="el" href="classArAction.html" title="Base class for actions. ">ArAction</a> at a higher priority to try to do this (so you don't smash things). (For truly intelligent navigation, see the ARNL or SONARNL software libraries.) </p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>ArActionDriveDistance.h</li>
<li>ArActionDriveDistance.cpp</li>
</ul>
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